DocumentCode :
1797471
Title :
An adaptive force reflective teleoperation control method using online environment impedance estimation
Author :
Khabbaz, Faezeh Heydari ; Goldenberg, Andrew ; Drake, James
Author_Institution :
Inst. of Biomater. & Biomed. Eng., Univ. of Toronto, Toronto, ON, Canada
fYear :
2014
fDate :
9-12 Dec. 2014
Firstpage :
1
Lastpage :
8
Abstract :
This paper proposes a new adaptive method for two-channel bilateral teleoperation systems control; the control method consists of adaptive force feedback and motion command scaling factors that ensure stable teleoperation with maximum achievable transparency at every moment of operation. The method is based on the integration of the real time estimation of the robot´s environment impedance with the adaptive force and motion scaling factors generator. This paper formulates the adaptive scaling factors for stable teleoperation based on the impedance models of master, slave and estimated impedance of the environment. Feasibility and accuracy of an online environment impedance estimation method are analyzed through simulations and experiments. Then the proposed adaptive bilateral control method is verified through simulation studies. Results show stable interactions with maximum transparency for the simulated teleoperation system.
Keywords :
adaptive control; force control; force feedback; stability; telerobotics; adaptive bilateral control method; adaptive force feedback; adaptive force reflective teleoperation control method; adaptive scaling factors; motion command scaling factors; motion scaling factors generator; online environment impedance estimation method; robot environment impedance estimation; teleoperation stability; two-channel bilateral teleoperation systems control; Adaptation models; Damping; Estimation; Force; Impedance; Robots; Stability analysis; adaptive methods; bilateral teleoperation; impedance estimation; transparency;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotic Intelligence In Informationally Structured Space (RiiSS), 2014 IEEE Symposium on
Conference_Location :
Orlando, FL
Type :
conf
DOI :
10.1109/RIISS.2014.7009167
Filename :
7009167
Link To Document :
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